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Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing directly the entire target and current camera images. However, by getting rid of the visual features altogether, those approaches require the target and current images to be essentially similar, which precludes the generalization to unknown, cluttered, scenes. Here we propose to perform VS based on visual features as in classical VS approaches but, contrary to the latter, we leverage recent breakthroughs in Deep Learning to automatically extract and match the visual features. By doing so, our approach enjoys the advantages from both worlds: (i) because our approach is based on visual features, it is able to steer the robot towards the object of interest even in presence of significant distraction in the background; (ii) because the features are automatically extracted and matched, our approach can easily and automatically generalize to unseen objects and scenes. In addition, we propose to use a render engine to synthesize the target image, which offers a further level of generalization. We demonstrate these advantages in a robotic grasping task, where the robot is able to steer, with high accuracy, towards the object to grasp, based simply on an image of the object rendered from the camera view corresponding to the desired robot grasping pose.

Traditional video captioning requests a holistic description of the video, yet the detailed descriptions of the specific objects may not be available. Besides, most methods adopt frame-level inter-object features and ambiguous descriptions during training, which is difficult for learning the vision-language relationships. Without associating the transition trajectories, these image-based methods cannot understand the activities with visual features. We propose a novel task, named object-oriented video captioning, which focuses on understanding the videos in object-level. We re-annotate the object-sentence pairs for more effective cross-modal learning. Thereafter, we design the video-based object-oriented video captioning (OVC)-Net to reliably analyze the activities along time with only visual features and capture the vision-language connections under small datasets stably. To demonstrate the effectiveness, we evaluate the method on the new dataset and compare it with the state-of-the-arts for video captioning. From the experimental results, the OVC-Net exhibits the ability of precisely describing the concurrent objects and their activities in details.

The area of Data Analytics on graphs promises a paradigm shift as we approach information processing of classes of data, which are typically acquired on irregular but structured domains (social networks, various ad-hoc sensor networks). Yet, despite its long history, current approaches mostly focus on the optimization of graphs themselves, rather than on directly inferring learning strategies, such as detection, estimation, statistical and probabilistic inference, clustering and separation from signals and data acquired on graphs. To fill this void, we first revisit graph topologies from a Data Analytics point of view, and establish a taxonomy of graph networks through a linear algebraic formalism of graph topology (vertices, connections, directivity). This serves as a basis for spectral analysis of graphs, whereby the eigenvalues and eigenvectors of graph Laplacian and adjacency matrices are shown to convey physical meaning related to both graph topology and higher-order graph properties, such as cuts, walks, paths, and neighborhoods. Next, to illustrate estimation strategies performed on graph signals, spectral analysis of graphs is introduced through eigenanalysis of mathematical descriptors of graphs and in a generic way. Finally, a framework for vertex clustering and graph segmentation is established based on graph spectral representation (eigenanalysis) which illustrates the power of graphs in various data association tasks. The supporting examples demonstrate the promise of Graph Data Analytics in modeling structural and functional/semantic inferences. At the same time, Part I serves as a basis for Part II and Part III which deal with theory, methods and applications of processing Data on Graphs and Graph Topology Learning from data.

Reinforcement learning (RL) algorithms have been around for decades and been employed to solve various sequential decision-making problems. These algorithms however have faced great challenges when dealing with high-dimensional environments. The recent development of deep learning has enabled RL methods to drive optimal policies for sophisticated and capable agents, which can perform efficiently in these challenging environments. This paper addresses an important aspect of deep RL related to situations that demand multiple agents to communicate and cooperate to solve complex tasks. A survey of different approaches to problems related to multi-agent deep RL (MADRL) is presented, including non-stationarity, partial observability, continuous state and action spaces, multi-agent training schemes, multi-agent transfer learning. The merits and demerits of the reviewed methods will be analyzed and discussed, with their corresponding applications explored. It is envisaged that this review provides insights about various MADRL methods and can lead to future development of more robust and highly useful multi-agent learning methods for solving real-world problems.

To solve complex real-world problems with reinforcement learning, we cannot rely on manually specified reward functions. Instead, we can have humans communicate an objective to the agent directly. In this work, we combine two approaches to learning from human feedback: expert demonstrations and trajectory preferences. We train a deep neural network to model the reward function and use its predicted reward to train an DQN-based deep reinforcement learning agent on 9 Atari games. Our approach beats the imitation learning baseline in 7 games and achieves strictly superhuman performance on 2 games without using game rewards. Additionally, we investigate the goodness of fit of the reward model, present some reward hacking problems, and study the effects of noise in the human labels.

Deep learning (DL) is a high dimensional data reduction technique for constructing high-dimensional predictors in input-output models. DL is a form of machine learning that uses hierarchical layers of latent features. In this article, we review the state-of-the-art of deep learning from a modeling and algorithmic perspective. We provide a list of successful areas of applications in Artificial Intelligence (AI), Image Processing, Robotics and Automation. Deep learning is predictive in its nature rather then inferential and can be viewed as a black-box methodology for high-dimensional function estimation.

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills must handle raw sensory input such as images. In this paper, we propose an algorithm that acquires such general-purpose skills by combining unsupervised representation learning and reinforcement learning of goal-conditioned policies. Since the particular goals that might be required at test-time are not known in advance, the agent performs a self-supervised "practice" phase where it imagines goals and attempts to achieve them. We learn a visual representation with three distinct purposes: sampling goals for self-supervised practice, providing a structured transformation of raw sensory inputs, and computing a reward signal for goal reaching. We also propose a retroactive goal relabeling scheme to further improve the sample-efficiency of our method. Our off-policy algorithm is efficient enough to learn policies that operate on raw image observations and goals for a real-world robotic system, and substantially outperforms prior techniques.

In the past decade, Convolutional Neural Networks (CNNs) have demonstrated state-of-the-art performance in various Artificial Intelligence tasks. To accelerate the experimentation and development of CNNs, several software frameworks have been released, primarily targeting power-hungry CPUs and GPUs. In this context, reconfigurable hardware in the form of FPGAs constitutes a potential alternative platform that can be integrated in the existing deep learning ecosystem to provide a tunable balance between performance, power consumption and programmability. In this paper, a survey of the existing CNN-to-FPGA toolflows is presented, comprising a comparative study of their key characteristics which include the supported applications, architectural choices, design space exploration methods and achieved performance. Moreover, major challenges and objectives introduced by the latest trends in CNN algorithmic research are identified and presented. Finally, a uniform evaluation methodology is proposed, aiming at the comprehensive, complete and in-depth evaluation of CNN-to-FPGA toolflows.

Image segmentation is considered to be one of the critical tasks in hyperspectral remote sensing image processing. Recently, convolutional neural network (CNN) has established itself as a powerful model in segmentation and classification by demonstrating excellent performances. The use of a graphical model such as a conditional random field (CRF) contributes further in capturing contextual information and thus improving the segmentation performance. In this paper, we propose a method to segment hyperspectral images by considering both spectral and spatial information via a combined framework consisting of CNN and CRF. We use multiple spectral cubes to learn deep features using CNN, and then formulate deep CRF with CNN-based unary and pairwise potential functions to effectively extract the semantic correlations between patches consisting of three-dimensional data cubes. Effective piecewise training is applied in order to avoid the computationally expensive iterative CRF inference. Furthermore, we introduce a deep deconvolution network that improves the segmentation masks. We also introduce a new dataset and experimented our proposed method on it along with several widely adopted benchmark datasets to evaluate the effectiveness of our method. By comparing our results with those from several state-of-the-art models, we show the promising potential of our method.